207 lines
8.1 KiB
C
207 lines
8.1 KiB
C
// Copyright (c) Acconeer AB, 2020-2022
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// All rights reserved
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// This file is subject to the terms and conditions defined in the file
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// 'LICENSES/license_acconeer.txt', (BSD 3-Clause License) which is part
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// of this source code package.
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#include <stdbool.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include "sys_app.h"
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#include "acc_detector_distance.h"
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#include "acc_hal_definitions.h"
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#include "acc_hal_integration.h"
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#include "acc_rss.h"
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#include "acc_version.h"
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#include "yunhorn_sts_sensors.h"
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/** \example example_detector_distance.c
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* @brief This is an example on how the distance detector can be used
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* @n
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* The example executes as follows:
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* - Activate Radar System Software (RSS)
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* - Create a distance detector configuration
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* - Update the distance detector configuration
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* - Create a distance detector using the previously updated configuration
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* - Destroy the distance detector configuration
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* - Activate the distance detector
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* - Get the result and print it 5 times
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* - Deactivate and destroy the distance detector
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* - Deactivate Radar System Software (RSS)
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*/
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#define EXAMPLE_START_M (0.8f) //0.2f
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#define EXAMPLE_LENGTH_M (1.4f) //0.4f
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#define EXAMPLE_PROFILE ACC_SERVICE_PROFILE_2 //2
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#define EXAMPLE_HWAAS (63) //63
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extern volatile distance_measure_cfg_t distance_cfg; //={1.0, 3.0, 4, 63, 1, 10, 0.5, 1.3, 0.5};
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extern float sts_distance_rss_distance;
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static void update_configuration(acc_detector_distance_configuration_t distance_configuration);
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static void print_configuration(acc_detector_distance_configuration_t distance_configuration);
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static void print_distances(acc_detector_distance_result_t *result, uint16_t reflection_count);
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int acc_example_detector_distance(uint16_t *rss_distance);
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int acc_example_detector_distance(uint16_t *rss_distance)
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{
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//(void)argc;
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//(void)argv;
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//APP_LOG(TS_OFF, VLEVEL_M, "Acconeer software version %s\n", acc_version_get());
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const acc_hal_t *hal = acc_hal_integration_get_implementation();
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#if 1
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if (!acc_rss_activate(hal))
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{
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APP_LOG(TS_OFF, VLEVEL_M, "acc_rss_activate() failed\n");
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return EXIT_FAILURE;
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}
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#endif
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acc_rss_override_sensor_id_check_at_creation(true);
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acc_detector_distance_configuration_t distance_configuration = acc_detector_distance_configuration_create();
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if (distance_configuration == NULL)
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{
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APP_LOG(TS_OFF, VLEVEL_M, "acc_detector_distance_configuration_create() failed\n");
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acc_rss_deactivate();
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return EXIT_FAILURE;
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}
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///
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// acc_detector_distance_handle_t distance_handle = acc_detector_distance_create(distance_configuration);
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/*
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if (distance_handle == NULL)
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{
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APP_LOG(TS_OFF, VLEVEL_M, "acc_detector_distance_create() failed\n");
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acc_detector_distance_configuration_destroy(&distance_configuration);
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acc_rss_deactivate();
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return EXIT_FAILURE;
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}
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*/
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///
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print_configuration(distance_configuration);
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update_configuration(distance_configuration);
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acc_detector_distance_handle_t distance_handle = acc_detector_distance_create(distance_configuration);
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print_configuration(distance_configuration);
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if (distance_handle == NULL)
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{
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APP_LOG(TS_OFF, VLEVEL_M, "acc_detector_distance_create() failed\n");
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acc_detector_distance_configuration_destroy(&distance_configuration);
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acc_rss_deactivate();
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return EXIT_FAILURE;
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}
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acc_detector_distance_configuration_destroy(&distance_configuration);
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if (!acc_detector_distance_activate(distance_handle))
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{
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APP_LOG(TS_OFF, VLEVEL_M, "acc_detector_distance_activate() failed\n");
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acc_detector_distance_destroy(&distance_handle);
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acc_rss_deactivate();
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return EXIT_FAILURE;
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}
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bool success = true;
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const int iterations = 6; //5;
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uint16_t number_of_peaks = 5;
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acc_detector_distance_result_t result[number_of_peaks];
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acc_detector_distance_result_info_t result_info;
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float sts_distance = 0.0f;
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for (int i = 0; i < iterations; i++)
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{
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success = acc_detector_distance_get_next(distance_handle, result, number_of_peaks, &result_info);
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if (!success)
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{
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APP_LOG(TS_OFF, VLEVEL_M, "acc_detector_distance_get_next() failed\n");
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break;
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}
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sts_distance += result->distance_m;
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print_distances(result, result_info.number_of_peaks);
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HAL_Delay(20);
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}
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*rss_distance = (sts_distance*1000.0f)/iterations;
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bool deactivated = acc_detector_distance_deactivate(distance_handle);
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acc_detector_distance_destroy(&distance_handle);
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acc_rss_deactivate();
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if (deactivated && success)
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{
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APP_LOG(TS_OFF, VLEVEL_M, "Application finished OK\n");
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return EXIT_SUCCESS;
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}
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return EXIT_FAILURE;
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}
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static void update_configuration(acc_detector_distance_configuration_t distance_configuration)
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{
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acc_detector_distance_configuration_requested_start_set(distance_configuration, EXAMPLE_START_M);// distance_cfg.start_m); //EXAMPLE_START_M);
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acc_detector_distance_configuration_requested_length_set(distance_configuration, 3.0); //distance_cfg.length_m); //EXAMPLE_LENGTH_M);
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acc_detector_distance_configuration_service_profile_set(distance_configuration, 2); //distance_cfg.acc_profile); //EXAMPLE_PROFILE);
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acc_detector_distance_configuration_hw_accelerated_average_samples_set(distance_configuration, EXAMPLE_HWAAS); //distance_cfg.hwaas);//EXAMPLE_HWAAS);
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//acc_detector_distance_configuration_record_background_sweeps_set(distance_configuration, 16);
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//acc_detector_distance_configuration_downsampling_factor_set(distance_configuration, 1);
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//acc_detector_distance_configuration_threshold_sensitivity_set(distance_configuration, 0.2);
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#if 1
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acc_detector_distance_configuration_threshold_sensitivity_set(distance_configuration, distance_cfg.threshold);
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acc_detector_distance_configuration_sweep_averaging_set(distance_configuration,distance_cfg.sweep_average);
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acc_detector_distance_configuration_receiver_gain_set(distance_configuration,distance_cfg.gain);
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acc_detector_distance_configuration_downsampling_factor_set(distance_configuration, distance_cfg.downsampling);
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acc_detector_distance_configuration_threshold_type_set(distance_configuration, ACC_DETECTOR_DISTANCE_THRESHOLD_TYPE_CFAR);
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acc_detector_distance_configuration_record_background_sweeps_set(distance_configuration, 16);
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#endif
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}
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static void print_configuration(acc_detector_distance_configuration_t distance_configuration)
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{
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float sts_start = acc_detector_distance_configuration_requested_start_get(distance_configuration);
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float sts_length = acc_detector_distance_configuration_requested_length_get(distance_configuration);
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float sts_profile = acc_detector_distance_configuration_service_profile_get(distance_configuration);
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float sts_hwaas = acc_detector_distance_configuration_hw_accelerated_average_samples_get(distance_configuration);
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float sts_gain = acc_detector_distance_configuration_receiver_gain_get(distance_configuration);
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float sts_threshold = acc_detector_distance_configuration_threshold_sensitivity_get(distance_configuration);
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APP_LOG(TS_OFF, VLEVEL_M, "\r\nDistance CFG: start:%4d length:%4d profile:%2d HWAAS:%2d gain:%3d threshold:%6d \r\n",
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(int)(sts_start*1000.0f), (int)(sts_length*1000.0f), (int)(sts_profile), (int)(sts_hwaas), (int)(sts_gain*100.0f), (int)(sts_threshold*1000.0f));
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#if 0
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acc_detector_distance_configuration_threshold_sensitivity_set(distance_configuration, distance_cfg.threshold);
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acc_detector_distance_configuration_sweep_averaging_set(distance_configuration,distance_cfg.sweep_average);
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acc_detector_distance_configuration_receiver_gain_set(distance_configuration,distance_cfg.gain);
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acc_detector_distance_configuration_downsampling_factor_set(distance_configuration, distance_cfg.downsampling);
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acc_detector_distance_configuration_threshold_type_set(distance_configuration, ACC_DETECTOR_DISTANCE_THRESHOLD_TYPE_CFAR);
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acc_detector_distance_configuration_record_background_sweeps_set(distance_configuration, 16);
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#endif
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}
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static void print_distances(acc_detector_distance_result_t *result, uint16_t reflection_count)
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{
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APP_LOG(TS_OFF, VLEVEL_M, "Found %u peaks:\n", (unsigned int)reflection_count);
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for (uint16_t i = 0; i < reflection_count; i++)
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{
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APP_LOG(TS_OFF, VLEVEL_M, "Amplitude %u at %u mm\n", (unsigned int)result[i].amplitude,
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(unsigned int)(result[i].distance_m * 1000));
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}
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}
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